| Note: This tutorial assumes that you have completed the previous tutorials: cob_tutorials/Tutorials/Startup simulation, cob_tutorials/Tutorials/Navigation (local). |
 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Using global navigation (navigation with a predefined map)
Description: This tutorial shows you how to create a map and use it for moving the mobile base avoiding collisions and specifying navigation goals in the map frame.Tutorial Level: BEGINNER
Next Tutorial: cob_tutorials/Tutorials/Task coordination (explore)
Contents
Prerequisits
Startup simulation with robot.
We will need a predefined map. You can get the map
either from the cob_tutorials/Tutorials/Navigation (slam) tutorial
or generate a new map
Make sure you copy both map.pgm and map.yaml to your current directory.
Global navigation
Start cob_navigation_global navigation
roslaunch cob_navigation_global 2dnav_ros_dwa.launch robot:=cob4-<your robot> map:=<path to your map.yaml>
if you couldn't create your own map, use a predefined one with
roslaunch cob_navigation_global 2dnav_ros_dwa.launch robot:=cob4-2 robot_env:=ipa-apartment
Start rviz visualisation
roslaunch cob_navigation_global rviz.launch
Localise the robot with giving it an estimated starting pose using the "2D Pose Estimate" button.
Use the "2D Nav Goal" button in rviz to specify a navigation goal and watch the robot moving while avoiding obstacles. Try to
- move the robot around in the room
- move the robot directly into another room crossing doors
